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<h1>ctraj</h1><p><span class="helptopic">Cartesian trajectory between two points</span></p><p>
<strong>tc</strong> = <span style="color:red">ctraj</span>(<strong>T0</strong>, <strong>T1</strong>, <strong>n</strong>) is a Cartesian trajectory (4x4xN) from pose <strong>T0</strong> to <strong>T1</strong>
with <strong>n</strong> points that follow a trapezoidal velocity profile along the path.
The Cartesian trajectory is a homogeneous transform sequence and the last
subscript being the point index, that is, T(:,:,i) is the i'th point along
the path.

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<p>
<strong>tc</strong> = <span style="color:red">ctraj</span>(<strong>T0</strong>, <strong>T1</strong>, <strong>s</strong>) as above but the elements of <strong>s</strong> (Nx1) specify the
fractional distance  along the path, and these values are in the range [0 1].
The i'th point corresponds to a distance <strong>s</strong>(i) along the path.

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<h2>See also</h2>
<p>
<a href="matlab:doc lspb">lspb</a>, <a href="matlab:doc mstraj">mstraj</a>, <a href="matlab:doc trinterp">trinterp</a>, <a href="matlab:doc Quaternion.interp">Quaternion.interp</a>, <a href="matlab:doc transl">transl</a></p>
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